Electric fluidic rotary joint actuator with pump

ABSTRACT

There is set forth herein an articulated arm, the articulated arm comprising a first rigid link assembly and a second rigid link assembly. The articulated arm can be configured so that the second rigid link assembly rotates in relation to the first link assembly about a rotary axis. The articulated arm can include an actuator for causing rotary movement of the second rigid link assembly in relation to the first rigid link assembly about the rotary axis. The actuator can include a first fluid chamber, and a second fluid chamber. The articulated arm can include a fluid supply assembly for moving fluid into and out of the first fluid chamber and the second fluid chamber.

FIELD

There is set forth herein an articulated arm, and more particularly anarticulated arm having a first and second rigid link assembliesrotatably connected so that the second rigid link assembly rotates inrelation to the first rigid link assembly about an axis.

BACKGROUND

According to a commercially available design for an articulated robotarm, a robot arm can include a first rigid link assembly and a secondrigid link assembly. The first rigid link assembly and the second rigidlink assembly can be connected so that the second rigid link assemblymoves in relation to the first rigid link assembly about an axis. In acommercially available design, a motorized gearbox can be provided forproviding the required motion of the second rigid link assembly inrelation to the first rigid link assembly about the axis. Motorizedrobot gearboxes for providing required motion of rigid link assemblyabout an axis often must be manufactured within strict tolerances tosatisfy requirements of precision and stiffness.

Gearboxes for articulated robot arms are often the most expensivecomponent of a robot arm. Gearboxes are susceptible to failure by way ofa variety of wear processes including abrasive wear, corrosive wear, andpitting. Gear tooth overload can occur when a gear is no longer capableof supporting an intended load.

BRIEF DESCRIPTION

There is set forth herein an articulated arm, the articulated armcomprising a first rigid link assembly and a second rigid link assembly.The articulated arm can be configured so that the second rigid linkassembly rotates in relation to the first link assembly about a rotaryaxis. The articulated arm can include an actuator for causing rotarymovement of the second rigid link assembly in relation to the firstrigid link assembly about the rotary axis. The actuator can include afirst fluid chamber, and a second fluid chamber. The articulated arm caninclude a fluid supply assembly for moving fluid into and out of thefirst fluid chamber and the second fluid chamber. One or more componentof the fluid supply assembly can be supported in a fixed position inrelation to respective fluid supply ends the first fluid chamber and thesecond fluid chamber.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

In the views, wherein like element numbers are used to indicate likeelements throughout the views;

FIG. 1 is a combination side and cross sectional view of an articulatedrobot arm in one embodiment;

FIG. 2 is a schematic perspective view of a rigid link assembly havingfunctionality of the rigid link assembly set forth in reference to thearticulated robot arm set forth in FIG. 1;

FIG. 3 is a combination side and cross sectional view of an articulatedrobot arm in one embodiment;

FIG. 4 is a schematic perspective view of a rigid link assembly havingfunctionality of the rigid link assembly set forth in reference to thearticulated robot arm set forth in FIG. 3;

FIG. 5 is a combination side and cross sectional view of an articulatedrobot arm in one embodiment;

FIG. 6 is a schematic perspective view of a rigid link assembly havingfunctionality of the rigid link assembly set forth in reference to thearticulated robot arm set forth in FIG. 5;

FIG. 7 is a combination side and cross sectional view of an articulatedrobot arm in one embodiment;

FIG. 8 is a schematic perspective view of a rigid link assembly havingfunctionality of the rigid link assembly set forth in reference to thearticulated robot arm set forth in FIG. 7;

FIGS. 9-12 are perspective views of various rigid link assemblies;

FIG. 13 is a cross-sectional view taken along line A-A and B-B FIGS. 6and 8;

FIG. 14 is a cross-sectional view taken along line C-C and D-D of FIG.9;

FIG. 15 is a cross-sectional view taken along line E-E and F-F of FIG.10;

FIG. 16 is a front view of an articulated robot arm in one embodimenthaving a first rigid link assembly connected to a proximal rigid linkassembly and a second rigid link assembly;

FIG. 17 is a perspective expanded view of an articulated arm for a robotin one embodiment.

DETAILED DESCRIPTION

There is shown in FIG. 1 according to one embodiment an articulated arm100. The articulated arm 100 can include a first rigid link assembly 11and a second rigid link assembly 12. The articulated arm 100 can includea hydraulic actuator having first fluid chamber 13 second fluid chamber14 and fluid supply assembly 20. When actuated the actuator having firstfluid chamber 13, second fluid chamber 14 and fluid supply assembly 20can cause second rigid link assembly 12 to rotate in relation to firstrigid link assembly 11 about rotary axis A to define a rotary joint. Inone embodiment, the fluid supplied by fluid supply assembly 20 can beessentially incompressible. In one embodiment, the fluid supplied byfluid supply assembly 20 can be compressible.

Fluid supply assembly 20 can include a motor driven pump 23, a reservoir24, fluid supply lines 27 and 28 between the reservoir 24 and the firstand second fluid chambers 13 and 14, check valves 29 and 30 between thefluid supply lines 27 and 28 and the reservoir 24, and a motor assembly21 for driving the pump 23. Reservoir 24 and fluid supply lines 27 and28 can be defined by rigid structural member 32 of unitary constructionin the embodiment of FIG. 1 and check valves 29 and 30 can be supportedby rigid structural member 32. A change in a volume of fluid in one ormore of chamber 13 or chamber 14 can result in a change of the currentvalue of angle θ, between rigid link assembly 12 and rigid link assembly11. The angle, θ, can be regarded to be a joint angle. In oneembodiment, a relative volume of fluid in the first fluid chamber 13 andthe second fluid chamber 14 can determine a current value of the angle,θ, that specifies a rotary position angle of second rigid link assembly12 in relation to first rigid link assembly 11. In the embodiment ofFIG. 1 first fluid chamber 13 and second fluid chamber 14 can benon-coaxial relative to each other and can be disposed laterallyrelative to each other.

Referring to further aspects of the embodiment of FIG. 1, the hydraulicactuator in the embodiment of FIG. 1 is in the configuration of a muscleactuator. For configuration of a muscle actuator, first rigid linkassembly 11 can support flange surfaces 42 and second rigid linkassembly 12 can support flange surfaces 46 opposing flange surfaces 42.Rigid link assembly 12 can include a rigid link member 211 of unitaryconstruction that defines flange surfaces 46. Flange surfaces 42 can bedefined on rigid structural member 32 in the embodiment of FIG. 1.

First and second muscles 15 and 16 can be disposed adjacently tolongitudinal axis L of first rigid link assembly 11 and can extend indirections generally parallel to longitudinal axis L. First muscle 15can be connected to a first set of opposing flange surfaces 42 and 46.Second muscle 16 can be connected to second set of opposing flangesurfaces 42 and 46. Hub 15H of first muscle 15 can be rigidly joined toa first flange surface 42 of flange surfaces 42 and resilient extender15E of muscle can be joined to a first flange surface of flange surfaces46. Hub 16H of second muscle 16 can be rigidly joined to a second flangesurface 42 of flange surfaces 42 and resilient extender 16E of muscle 16can be joined to a first flange surface of flange surfaces 46. Hub 15Hcan further define fluid supply line 27 and hub 16H can further definefluid supply line 28. First muscle 15 and second muscle 16 can beelongated. First muscle 15 can include first fluid chamber 13 and secondmuscle 16 can include second fluid chamber 14. Each muscle 15, 16 caninclude a flexible bladder defining a muscle's fluid chamber and a fibershield surrounding the flexible bladder. When pressurized by fluidentering first fluid chamber 13, muscle 15 can contract to move secondrigid link assembly 12 clockwise about rotary axis A in relation tofirst rigid link assembly 11. When pressurized by fluid entering secondfluid chamber 14 muscle 16 can contract to move second rigid linkassembly 12 counter-clockwise about rotary axis A in relation to firstrigid link assembly 11.

Referring to further aspects of fluid supply assembly 20 in theembodiment of FIG. 1, fluid supply assembly 20 can include a pump 23.Pump 23 can be provided by a rotary gear pump and can include gears 23G.Pump 23 can have an axle 23A driven by motor assembly 21. Pump 23 caninclude a pump stator 23S which can include bearing housings. Pumpstator 23S can be supported by rigid structural member 32 in fixedposition in relation to rigid structural member 32. Pump 23 can movefluid into and out of first fluid chamber 13 and second fluid chamber14. Motor assembly 21 can include motor 21M supported and housed bymotor housing 21H. Motor assembly 21 can also include a motor axle 21Aand a coupling 21C for coupling motor axle 21A to pump axle 23A.

Between pump 23 of fluid supply assembly 20 and first fluid chamber 13fluid supply assembly 20 can include fluid supply line 27. Between pump23 and second fluid chamber 14, fluid supply assembly 20 can includefluid supply line 28. Fluid supply line 27 and fluid supply line 28 canbe defined by rigid structural member 32 of unitary construction. Fluidsupply line 27 can further be defined in hub 15H and fluid supply line28 can be further defined in hub 16H. Fluid supply line 27 and fluidsupply line 28 can be bored into rigid structural member 32 in oneembodiment. Rigid structural member 32 of unitary construction definingreservoir 24, fluid supply line 27 and fluid supply line 28 can beregarded as a component of fluid supply assembly 20.

Reservoir 24 of fluid supply assembly 20 can be adapted to provide fluidto pump 23. A flow of fluid between reservoir 24 and pump 23 can dependon an open/closed state of check valve 29 disposed between fluid supplyline 27 and reservoir 24 and on an open/closed state of check valve 30disposed between fluid supply line 28 and reservoir 24. When pump 23 isrotated in a first direction so that fluid supply line 27 and firstfluid chamber 13 enter a pressure state and further so that fluid supplyline 28 and second fluid chamber 14 enter a suction state, check valve29 can close and check valve 30 can open. With pump 23 rotated in afirst direction and with check valve 29 closed and check valve 30 open,fluid from reservoir 24 can be moved by pump 23 through check valve 30and through fluid supply line 28 pump 23 and fluid supply line 27 andoutward into first fluid chamber 13. With pump 23 rotated in a firstdirection and with check valve 29 closed and check valve 30 open, fluidcan be drawn from second fluid chamber 14 and moved into reservoir 24through fluid supply line 28 and check valve 30. With pump 23 rotated ina first direction and with check valve 29 closed and check valve 30open, fluid can be drawn from second fluid chamber 14 and moved intofirst fluid chamber 13 through fluid supply line 28 pump 23 and fluidsupply line 27.

With pump 23 rotated in a second direction opposite the first directionso that fluid supply line 28 and second fluid chamber 14 enter apressure state and fluid supply line 27 and first fluid chamber 13 entera suction state, check valve 30 can close and check valve 29 can open.With pump 23 rotated in a second direction and with check valve 30closed and check valve 29 open, fluid from reservoir 24 can be moved bypump 23 through check valve 29 and through fluid supply line 27 pump 23and fluid supply line 28 and outward into second fluid chamber 14. Withpump 23 rotated in a second direction and with check valve 30 closed andcheck valve 29 open, fluid can be drawn from first fluid chamber 13 andmoved into reservoir 24 through fluid supply line 27 and check valve 29.With pump 23 rotated in a second direction and with check valve 30closed and check valve 29 open, fluid can be drawn from first fluidchamber 13 and moved into second fluid chamber 14 through fluid supplyline 27, pump 23 and fluid supply line 28.

Where fluid supplied by fluid supply assembly 20 is essentiallyincompressible, there can be included within reservoir 24 compressiblebladder 25 which can compress in the event there are volume changesresulting from, e.g. temperature changes. Bladder 25 can optionallyinclude a port 26 defined in rigid structural member 32 that allowsmeasurement and adjustment of fluid pressure within reservoir 24.

In FIG. 2 there is shown a perspective view of a rigid link assembly 11having functional characteristics of rigid link assembly 11 as set forthin reference to FIG. 1. Rigid link assembly 11 as shown in FIG. 2, caninclude rigid link member 1011 of unitary construction rigidly joined torigid structural member 32 of unitary construction which rigidstructural member 32 can be rigidly joined to motor housing 2111 ofunitary construction which can extend to axis A. Muscle 15 and muscle 16can be joined to flange surfaces 42 defined on rigid structural member32.

Referring to FIG. 3, another exemplary articulated arm 100 having analternative type of actuator is shown and described. In the embodimentof FIG. 3, inner cylinder 52 can rotate within outer cylinder 54. Vane56 can be rigidly joined to an interior surface of inner cylinder 52 andcan extend to an interior surface of outer cylinder 54. An interfacebetween vane 56 and outer cylinder 54 can be sealed by seal 57. Secondrigid link assembly 12 can include inner cylinder 52 so that secondrigid link assembly 12 can rotate with respect to first rigid linkassembly 11. First fluid chamber 13 can be defined by the annular volumebetween a first side of vane 56 and a first side of shoe 58. Secondfluid chamber 14 can be defined by the annular volume between a secondside of vane 56 and a second side of shoe 58. Shoe 58 can be provided bya block of solid material rigidly joined to an interior surface of outercylinder 54. A seal 59 can be provided at an interface between shoe 58and an interior surface of inner cylinder 52. A substantially sized openvolume 51 can be defined at an interior of inner cylinder 52. In oneaspect of inner cylinder 52, inner cylinder 52 can have an exteriorsurface that defines an open volume 51 intersected by the rotary axis A,the inner cylinder 52 having an interior surface that defines the firstfluid chamber 13 and the second fluid chamber 14. One or more flexiblecomponent 53, e.g., one or more flexible electrical cables and/orflexible fluid conduit of articulated arm 100 can be routed through openvolume 51, thereby reducing a risk of interference between rigid linkassemblies of articulated arm 100 and such one or more flexiblecomponent. Open volume 51 can be a cylindrical open volume as depictedin FIG. 3. In one embodiment the diameter of the open volume can beequal to or greater than 1.0 cm; in another embodiment equal to orgreater than 2.0 cm; in another embodiment equal to or greater than 3.0cm; in another embodiment equal to or greater than 4.0 cm; in anotherembodiment equal to or greater than 5.0 cm. An actuator in accordancewith the embodiment of FIG. 3 can be regarded as an annular chamberactuator based the volumetric shape of fluid chamber 13 and fluidchamber 14 in one embodiment.

A change in a volume of fluid in one or more of chamber 13 or chamber 14can result in a change of the current angle, θ, between rigid linkassembly 12 and rigid link assembly 11 about rotary axis A. In oneembodiment, a current value for an angle, θ, between second rigid linkassembly 12 and first rigid link assembly 11 can be controlled by therelative volume of fluid in first fluid chamber 13 and in second fluidchamber 14. A change in a volume of fluid in one or more of chamber 13or chamber 14 can result in a change of the current angle θ, betweenrigid link assembly 12 and rigid link assembly 11.

In the manner of the embodiments described with reference to FIGS. 1 and2, a fluid supply assembly 20 in the embodiment of FIG. 3 can includethe combination of reservoir 24, fluid supply lines 27 and 28, checkvalves 29 and 30 functioning in the manner of the embodiment of FIG. 1,and of motor assembly 21 including motor 21M motor housing 21H and motoraxle 21A functioning in the manner of the embodiment of FIG. 1. Fluidsupply assembly 20 can include bladder 25 and port 26 functioning in themanner described with reference to the embodiment of FIG. 1. As shown inthe embodiment of FIG. 3, fluid reservoir 24 can be defined by rigidstructural member 32 of unitary construction. In the embodiment of FIG.3, rigid structural member 32A of unitary construction can be rigidlyjoined to rigid structural member 32 and rigid structural member 32A candefine fluid supply lines 27 and 28 and can further define reservoir 24.Fluid supply lines 27 and 28 can be further defined by outer cylinder 54and by shoe 58 that can be rigidly joined to outer cylinder 54. Checkvalves 29 and 30 and pump stator 23S can be supported by rigidstructural member 32A.

In FIG. 4 there is shown a perspective view of a rigid link assembly 11having functional characteristics of rigid link assembly 11 as set forthin reference to FIG. 3. Rigid link assembly 11 as shown in FIG. 4 caninclude rigid link member 1011 of unitary construction rigidly joined torigid structural member 32 of unitary construction which can be rigidlyjoined to motor housing 21H of unitary construction which can be rigidlyjoined to outer cylinder 54 of unitary construction which can extend toaxis A.

Referring to further aspects of articulated arm 100, one or morecomponent of fluid supply assembly 20 can be supported in a fixedposition in relation to a fluid supply end 13E of chamber 13 and to afluid supply end 14E of chamber 14. The providing of fluid supplyassembly 20 so that one or more component of fluid supply assembly 20 issupported in a fixed position in relation to fluid supply end 13E ofchamber 13 and to a fluid supply end 14E of chamber 14 provides variousadvantages. Providing one or more component of fluid supply assembly 20so that one or more component of fluid supply assembly 20 is supportedin a fixed position in relation to fluid supply end 13E of chamber 13and to a fluid supply end 14E of chamber 14 encourages free unencumberedmovement of second rigid link assembly 12 with reduced risk of damage tofluid supply assembly 20. It was determined that where one or morecomponent of fluid supply assembly 20 is not supported in a fixedposition in relation fluid supply end 13E of chamber 13 and to a fluidsupply end 14E of chamber 14, one or more component of fluid supplyassembly 20 can interfere with movement of first rigid link assembly 11or another component of articulated arm 100. A component supported in afixed position in relation to fluid supply end 13E of chamber 13 and toa fluid supply end 14E of chamber 14 can be defined in or supporteddirectly by a member defining the fluid supply end 13E, 14E or can bedefined in or supported through one or more additional members rigidlyjoined to a member defining fluid supply end 13E, 14E.

In the embodiment of FIGS. 1 and 2, fluid supply ends 13E and 14E ofchamber 13 and chamber 14 can be defined by muscle hubs 15H and 16Hrespectively and the following components can be among components offluid supply assembly 20 supported in fixed position in relation tochamber fluid supply ends 13E and 14E. Hubs 15H and 16H, rigidstructural member 32, reservoir 24 and fluid supply lines 27 and 28defined by hubs 15H and 16H and by rigid structural member 32,stationary components of check valves 29 and 30 supported by rigidstructural member 32, stationary components of motor assembly 21,including motor housing 21H and a motor stator 21S of motor 21M, andstationary components of pump 23 including pump stator 23S supported byrigid structural member 32. Referring to further aspects of theembodiment of FIGS. 1 and 2, rigid structural member 32 can be rigidlyjoined to muscle hubs 15H and 16H and motor housing 21H which cansupport in a fixed position stationary components of motor 21M andstationary components of pump 23 which can be rigidly joined to rigidstructural member 32. Because a succession of rigidly joined rigid linkmembers that define a spacing distance between proximal axis a androtary axis A can rotate about proximal axis a and can support rotationof rigid link assembly 12 about rotary axis A, the components 32, 24,27, 28, 29, 30, 23S, 21H and 21S of fluid supply assembly 20 asdescribed in connection with the embodiments of FIGS. 1 and 2 can besupported in a fixed position by rigid link member 111 in relation toproximal axis a and rotary axis A.

In the embodiment of FIGS. 3 and 4, fluid supply ends 13E and 14E ofchamber 13 and chamber 14 respectively can be defined by shoe 58 and thefollowing components of fluid supply assembly 20 can be supported infixed position in relation to fluid supply ends 13E and 14E of chamber13 and 14 respectively: Shoe 58, rigid structural member 32, rigidstructural member 32A, fluid supply lines 27 and 28 defined by shoe 58,outer cylinder 54 and rigid structural member 32A, reservoir 24 definedby rigid structural member 32 and rigid structural member 32A,stationary components of check valves 29 and 30 supported by rigidstructural member 32A, stationary components of motor assembly 21including motor housing 21H and motor stator 21S of motor 21M, andstationary components of pump 23 including pump stator 23S supported byrigid structural member 32A in fixed position in relation to rigidstructural member 32A. Referring to further aspects of the embodiment ofFIGS. 3 and 4, shoe 58 can be rigidly joined to outer cylinder 54. Rigidstructural member 32 which can have rigidly joined thereto rigidstructural member 32A can be rigidly joined to outer cylinder 54. Motorhousing 21H (which can support in a fixed position a motor stator 21S ofmotor 21M) can be rigidly joined to rigid structural member 32. Becausea succession of rigidly joined rigid link members that define a spacingdistance between proximal axis a and rotary axis A can rotate aboutproximal axis a and can support rotation of rigid link assembly 12 aboutrotary axis A, the components 32, 32A, 24, 27, 28, 29, 30, 23S, 21H and21S of fluid supply assembly 20 as described in connection with theembodiments of FIGS. 3 and 4 can be supported in a fixed position byrigid link member 111 in relation to proximal axis a and rotary axis A.

In one aspect, one or more of fluid supply line 27 extending betweenpump 23 and first chamber 13 or fluid supply line 28 extending betweenpump 23 and second chamber 14 as set forth in the embodiments describedin reference to FIGS. 1-8 can be absent of a flexible section. In oneaspect, the configuring of fluid supply assembly 20 so that one or morecomponent of fluid supply assembly 20 is supported in a fixed positionin relation to fluid supply end 13E and fluid supply end 14E of secondfluid chamber 14 can facilitate the providing of one or more of fluidsupply line 27 or fluid supply line 28 to be absent a flexible section.Configuring fluid supply assembly 20 so that one or more of reservoir 24and pump 23 are supported in a fixed position in relation to fluidsupply end 13E of chamber 13 and fluid supply end 14E of chamber 14 canfacilitate a configuring of fluid supply line 27 and a fluid supply line28 to be absent a flexible section.

In the example of FIG. 1, reservoir 24 and fluid supply lines 27 and 28can be defined by a member of unitary construction provided by rigidstructural member 32 which can be rigidly joined to members 15H and 16Hin which chamber ends 13E and 14E can be defined. Rigid structuralmember 32 can also support in a fixed position relative thereto pumpstator 23S. Stationary components of motor assembly 21 such as motorstator 21S in can be supported in a fixed position in relation to motorhousing 21H which can be rigidly joined to rigid structural member 32 sothat stationary components of motor assembly 21 can supported in a fixedposition in relation to chamber ends 13E and 14E.

In the example of FIG. 3, reservoir 24 can be defined by a member ofunitary construction provided by rigid structural member 32 which can berigidly joined to the member of unitary construction provided bycylinder 54 in which chamber ends 13E and 14E can be defined. Rigidstructural member 32 can be rigidly joined to rigid structural member32A which can define fluid supply lines 27 and 28 and support in a fixedposition relative thereto pump stator 23S. Stationary components ofmotor assembly 21 such as motor stator 21S in can be supported in afixed position in relation to motor housing 21H which can be rigidlyjoined to rigid structural member 32 so that stationary components ofmotor assembly 21 can supported in a fixed position in relation tochamber ends 13E and 14E.

Providing one or more of fluid supply line 27 or fluid supply line 28 tobe absent a flexible section can avoid interference between a fluidsupply line 27 or fluid supply line 28 and first rigid link assembly 11or another component of articulated arm 100. Providing one or more offluid supply line 27 or fluid supply line 28 to be of reduced length andto be absent a flexible section can reduce a friction of fluid flowingthrough one of more of fluid supply line 27 or fluid supply line 28.Fluid flowing through fluid supply line 27 and fluid supply line 28 canhave an appreciable viscosity, and in one embodiment can be provided byoil. With a friction of fluid flowing through one or more of fluidsupply line 27 or fluid supply line 28 reduced, power output andpressure requirements of fluid supply assembly 20 can be reduced. Withfluid supply line 27 and fluid supply line 28 shorter, pump 23 can movefluid through fluid supply line 27 and fluid supply line 28 with reducedpower output and reduced pressure. A reduced path length for one or moreof fluid supply line 27 or fluid supply line 28 can be facilitated by aconfiguration in accordance with FIG. 1 or FIG. 3 where reservoir 24 canbe defined by a rigid structural member 32 of unitary construction thatcan be rigidly joined to a member that defines a fluid supply end 13E or14E of a fluid chamber 13 or 14 (member 32 can be rigidly joined to hub15H and hub 16H in the embodiment of FIG. 1, member 32 and member 54 canbe rigidly joined in the embodiment of FIG. 3).

Articulated arm 100 can include various features that facilitate a lowcost compact configuration. In some embodiments, a rigid link member ofrigid link assembly 11 that defines a spacing distance between proximalaxis a and rotary axis A can be provided by one or more component offluid supply assembly 20. In one example of such embodiments, acomponent of fluid supply assembly 20 can provide multiple functions ofoperating in accordance with requirements of fluid supply assembly 20providing spacing and supporting a load of second rigid link assembly12, thus reducing material and cost requirements of fluid supplyassembly 20.

Referring to further aspects of articulated arm 100, a spacing distancebetween proximal axis a and rotary axis A can be defined by one or morerigid link member of unitary construction. A rigid link member such as arigid link member of unitary construction can define a spacing distancebetween proximal axis a and rotary axis A by extending a distancebetween proximal axis a and rotary axis A. A rigid link member such as arigid link member of unitary construction can also define a spacingdistance between proximal axis a and rotary axis A by being one of asuccession of rigidly joined rigid link members of unitary constructionwhich by their being joined combine to extend the distance betweenproximal axis a and rotary axis A. Where a rigid link member such as arigid link member of first rigid link assembly 11 as set forth hereindefines a spacing distance between proximal axis and rotary axis, theone or more rigid link member can support a load of the second rigidlink assembly 12 connected to first rigid link assembly 11. A rigid linkmember of unitary construction that defines a spacing distance betweenproximal angle a and rotary axis A and extends between proximal axis arotational axis A can rotate about proximal axis a and can supportrotation of second rigid link assembly 12 about rotary axis A. Asuccession of rigid link members that define a spacing distance betweenproximal axis a and rotary axis A and combine to extend a distancebetween proximal axis a and rotary axis A can rotate about proximal axisa and can support rotation of rigid link assembly 12 about rotary axisA. Rigid link members of unitary construction that define a spacingdistance between proximal axis a and rotary axis A can be formed of castiron in one example.

In one embodiment, one or more component of fluid supply assembly 20 candefine a spacing distance between proximal axis a and rotary axis A.Referring to the embodiment of FIGS. 1 and 2, rigid link members ofunitary construction provided by rigid link member 1011 rigid structuralmember 32 and by motor housing 21H define a spacing distance betweenproximal axis a and rotary axis A. The rigid link members 1011, 32, and21H, of unitary construction shown in FIG. 1 and FIG. 2 can each supportthe load of rigid link assembly 12 connected to rigid link assembly 11and can be joined by e.g. welding using welds, fastening usingfasteners, e.g., bolts, or using threads. Provisioning a rigid linkassembly such as first rigid link assembly 11 so that a rigid linkmember of unitary construction that defines a spacing distance betweenproximal axis a and rotary axis A is provided by a component of fluidsupply assembly 20 can reduce a size, weight and cost of the rigid linkassembly. In the development of apparatus herein it was observed thatperformance of articulated arm 100 can be improved by decreasing a sizeand weight of articulated arm 100. Reduced size and weight of a rigidlink assembly can result in higher speed and lower cost of a rigid linkassembly. In one aspect, for reduction of a size and weight of firstrigid link assembly 11, first rigid link assembly 11 can be configuredso that one or more rigid link member that defines a spacing distancebetween proximal axis a and rotary axis A is provided by a component offluid supply assembly 20.

Referring to the embodiments of FIG. 3 and FIG. 4 first rigid linkassembly 11 can include a plurality of rigid link members that arerigidly joined together to define a spacing distance between proximalaxis a and rotary axis A. In the embodiments of FIG. 3 and FIG. 4, aspacing distance between proximal axis a and rotary axis A is defined byrigid link member 1011 of unitary construction in combination with therigid link member of unitary construction that is provided by rigidstructural member 32 in combination with the rigid link member ofunitary construction that is provided by motor housing 21H that housesmotor 21M in combination with the rigid link member of unitaryconstruction provided by cylinder 54. The rigid link members 1011, 32,21H, 54 of unitary construction shown in FIG. 3 and FIG. 4 can eachsupport the load of rigid link assembly 12 connected to rigid linkassembly 11 and can be joined by e.g. welding using welds, fasteningusing fasteners, e.g., bolts, or using threads. For example, rigidstructural member 32 of unitary construction can be welded to outercylinder 54 and can be threadably joined to the rigid link memberprovided by motor housing 21H. Motor housing 21H in turn can bethreadably joined to rigid link member 1011 or unitary construction.

In one embodiment one or more component of fluid supply assembly 20 canbe supported in a fixed position in relation to a rigid link member ofunitary construction that defines a spacing distance between proximalaxis a and rotary axis A and the supported one or more component of thefluid supply assembly 20 may provide little or no supporting of the loadof second rigid link assembly 12. As such, the supported one or morecomponent fluid supply assembly 20 can be easily removed and replacedfor servicing or upgrading, with articulated arm 100 remaining standingand intact.

Referring to FIGS. 5-11, rigid link assembly 11 can include one or aplurality of rigid link members 111 and 112 of unitary construction thatdefine a spacing distance between proximal axis a and rotary axis A andwhich extend a distance between proximal axis a and rotary axis A. Itwas observed that advantages can be provided by supporting components offluid supply assembly by one or more of such rigid link members 111 and112. The ease of servicing and maintenance advantage noted herein can beprovided. In addition, a supported one or more component of fluid supplyassembly 20 can be shielded, and thereby housed and protected by suchone or more rigid link members 111 and 112.

Referring now to the particular embodiment of FIGS. 5 and 6, theembodiments of FIG. 5 and FIG. 6 include a fluid supply assembly 20configured as described in the embodiment of FIG. 1 but include rigidlink member 111 of unitary construction extending a distance betweenproximal axis a and rotary axis A. Rigid link member 111 as shown in theembodiments of FIG. 5 and FIG. 6 can be a rigid link member of unitaryconstruction that defines a spacing distance of first rigid linkassembly 11 and extends a distance from proximal axis a to rotary axisA.

In the embodiments as shown in FIGS. 5 and 6, one or more component offluid supply assembly 20 can be rigidly supported by one or more rigidlink member that defines a spacing distance between proximal axis a androtary axis A. In the embodiments of FIG. 5 and FIG. 6, rigid linkmember 111 of unitary construction can define a spacing distance betweenproximal axis a and rotary axis A and can extend the distance fromproximal axis a to rotary axis A. In one aspect, rigid structural member32 that defines reservoir 24 fluid supply line 27 and fluid supply line28 and which supports stationary components of check valves 29 and 30and pump stator 23S can be supported in a fixed position by member 111as shown in the embodiments of FIG. 5 and FIG. 6. Motor housing 21Hwhich can support in a fixed position relative thereto stationarycomponents of motor 21M such as motor stator 21S can be supported byrigid link member 111 in a fixed position in relation to rigid linkmember 111. Because member 111 as shown in the embodiments of FIG. 5 andFIG. 6 can rotate about proximal axis a and can support rotation ofrigid link assembly 12 about rotary axis A, the components 32, 24, 27,28, 29, 30, 23S, 21H and 21S of fluid supply assembly 20 as described inconnection with the embodiments of FIGS. 5 and 6 can be supported in afixed position by rigid link member 111 in relation to proximal axis aand rotary axis A.

Referring now to the particular embodiments of FIG. 7 and FIG. 8, theembodiments of FIG. 7 and FIG. 8 include a fluid supply assembly 20configured as described in of FIG. 3 but include rigid link member 111extending a distance between proximal axis a and rotary axis A. Rigidlink member 111 as shown in the embodiments of FIG. 7 and FIG. 8 is arigid link member of unitary construction that defines a spacingdistance of first rigid link assembly 11 and extends a distance fromproximal axis a to rotary axis A (end extending to rotary axis A hiddenfrom view in FIG. 7).

In the embodiments of FIG. 7 and FIG. 8 first rigid link assembly 11 caninclude rigid link member 111 of unitary construction that defines aspacing distance between proximal axis a and rotary axis A and extends adistance between proximal axis a and rotary axis A. Rigid link member111 can support in a fixed position in relation to rigid link member 111one or more component of fluid supply assembly 20. Rigid structuralmember 32 of unitary construction defining or supporting in a fixedposition reservoir 24, fluid supply lines 27 and 28, stationarycomponents of check valves 29 and 30 and stationary components of pump23 such as pump stator 23S can be supported by rigid link member 111 ina fixed position relative to rigid link member 111. Motor housing 21Hwhich can support in a fixed position relative thereto stationarycomponents of motor 21M such as motor stator 21S can be supported byrigid link member 111 in a fixed position in relation to rigid linkmember 111. Because member 111 in the embodiments of FIG. 7 and FIG. 8can rotate about proximal axis a and can support rotation of rigid linkassembly 12 about rotary axis A, the components 32, 32A 24, 27, 28, 29,30, 23S, 21H and 21S of fluid supply assembly 20 as described inconnection with the embodiments of FIGS. 7 and 8 can be supported in afixed position by rigid link member 111 in relation to proximal axis aand rotary axis A.

As illustrated by the embodiments of FIGS. 5-8 rigid link assembly 11can include a rigid link member 111 of unitary construction that definesa spacing distance between proximal axis a and rotary axis A and whichextends a distance between proximal axis a and rotary axis A. Rigid linkmember 111 of unitary construction as set forth herein with reference toFIGS. 5-8 can support the load of second rigid link assembly 12connected to first rigid link assembly 11. As is set forth withreference to FIGS. 9-11, the embodiments of FIGS. 5-8 can be adapted toinclude a second a rigid link member 112 of unitary construction thatdefines a spacing distance between proximal axis a and rotary axis A andwhich extends a distance between proximal axis a and rotary axis A.Rigid link member 112 as set forth herein with reference to FIGS. 9-11can together with rigid link member 111 support in fixed position inrelation thereto one or more component of fluid supply assembly 20 andthe load of second rigid link assembly 12 connected to first rigid linkassembly 11.

As shown in FIG. 9, first rigid link assembly 11 can include first rigidlink member 111 of unitary construction defining a spacing distancebetween proximal axis a and rotary axis A and extending a distancebetween proximal axis a and rotary axis A as well as a second rigid linkmember 112 of unitary construction defining a spacing distance betweenproximal axis a and rotary axis A and extending a distance betweenproximal axis a and rotary axis A. In the embodiment of FIG. 9, rigidlink member 111 of unitary construction and rigid link member 112 ofunitary construction are spaced apart throughout their lengths. As shownby the dashed in phantom components depicted in FIG. 9, one or more ofrigid link member 111 and rigid link member 112 can support in a fixedposition in relation thereto one or more component of fluid supplyassembly 20. FIG. 9 schematically depicts components of the fluid supplyassembly 20 as set forth in FIG. 5 supported by rigid link member 111and rigid link member 112 in fixed position in relation to rigid linkmember 111 and rigid link member 112. One or more of rigid structuralmember 32 and motor housing 21H configured as set forth herein inreference to FIG. 5 can be supported by rigid link member 111 and rigidlink member 112 in a fixed position in relation to rigid link member 111and rigid link member 112.

In the embodiment as shown in FIG. 10, first rigid link assembly 11 caninclude first rigid link member 111 of unitary construction defining aspacing distance between proximal axis a and rotary axis A and a secondrigid link member 112 of unitary construction defining a spacingdistance between proximal axis a and rotary axis A. In the embodiment ofFIG. 10, rigid link member 111 of unitary construction and rigid linkmember 112 of unitary construction are in contact with one anotherthroughout their lengths. As illustrated in FIG. 10, rigid link member112 that defines a spacing distance between proximal axis a and rotaryaxis A and which extends the distance between proximal axis a and rotaryaxis A can be appropriately shaped to include flange surfaces 42 forsupporting muscle 15 and muscle 16 as set forth in the embodiments ofFIG. 1 and FIG. 5.

In the embodiment as shown in FIG. 11, first rigid link assembly 11 caninclude a first rigid link member 111 of unitary construction defining aspacing distance between proximal axis a and rotary axis A and a secondrigid link member 112 of unitary construction defining a spacingdistance between proximal axis a and rotary axis A. In the embodiment ofFIG. 11, rigid link member 111 of unitary construction and rigid linkmember 112 of unitary construction are in contact with one anotherthroughout a portion of their respective lengths. In the embodiment ofFIG. 11, the fluid supply assembly 20 as described in connection withFIG. 7 having rigid structural member 32 and outer cylinder 54 isschematically depicted as being supported by a rigid link member 111 andrigid link member 112.

In the embodiments of FIGS. 5-11 rigid link member 111 of unitaryconstruction defines a spacing distance between proximal axis a androtary axis A and extends a distance from proximal axis a to rotary axisA. In the embodiments of FIGS. 9-11, rigid link members 111 and 112 ofunitary construction defines a spacing distance between proximal axis aand rotary axis A and extends a distance from proximal axis a to rotaryaxis A. In another embodiment, elongated rigid link member 111 and/orelongated rigid link member 112 can define a spacing distance betweenproximal axis a and rotary axis A but can be non-unitary in constructionand can include a combination of rigid link members that are rigidlyjoined together to define a spacing distance between proximal axis a androtary axis A. Referring to the embodiment of FIG. 12, rigid link member111 defining a spacing distance between proximal axis a and rotary axisA can include rigid link member 111A of unitary construction rigidlyjoined to rigid link member 111B of unitary construction. Rigid linkmember 112 as shown in FIG. 12 defining a spacing distance betweenproximal axis a and rotary axis A can be of non-unitary construction andcan include two joined rigid link members of unitary construction. Inthe embodiment of FIG. 12, rigid link member 112B of unitaryconstruction can be rigidly joined to rigid link member 112B of unitaryconstruction to define rigid link member 112. Rigid link members hereincan be rigidly joined together using e.g. welds, fasteners (e.g. bolts)and/or threads. The rigid link members 111 and 112 as set forth inreference to FIG. 12 can replace the rigid link members 111 and 112 ofunitary construction set forth in reference to any of the embodiments ofFIGS. 5-11.

In one aspect, first rigid link assembly 11 can define a housing. Forexample, in the embodiments illustrated in FIGS. 5-12 one or more offirst and second rigid link members 111, 112 can define a housing havinga housing interior which is labeled element housing interior 160 in thecross sectional bottom views of the FIGS. 13-15. A cross sectional viewtaken along line A-A and line B-B of the embodiments of FIG. 6 and FIG.8 where first rigid link assembly 11 can be provided by a single rigidlink member 111 defining a spacing distance between proximal axis a androtary axis A is shown in FIG. 13. In the embodiment of FIG. 13 aninterior 160 of a housing can be defined adjacent to rigid link member111. Rigid link member 111 can shield and thereby house one or morecomponent of fluid supply assembly 20. In the embodiment of FIG. 13 aleft side of housing interior 160 can be delimited by rigid link member111 and tops and bottoms of housing interior 160 can be delimited byimaginary planes 161 and 162 extending from the top and bottom of rigidlink member 111 perpendicularly with respect to an interior surface ofrigid link member 111 as depicted in FIG. 13.

In the embodiment illustrated in FIG. 14, showing a cross sectional viewtaken along line C-C, and D-D of FIG. 9 of a housing interior 160 can bedelimited by rigid link members 111 and 112 and fronts and backs ofhousing interior 160 can be delimited by imaginary planes 161 and 162.Imaginary plane 161 can extend along front surfaces of rigid linkmembers 111, 112. Imaginary plane 162 can extend along back surfaces ofrigid link members 111, 112. In the embodiment illustrated in FIG. 15showing a cross sectional view taken along lines E-E, and F-F of FIG.10, sides of housing interior 160 can be delimited by sidewalls 111S,112S of rigid link members 111, 112, a back of housing interior 160 canbe defined by back walls 111R, 112R of rigid link members 111, 112 and afront of housing interior 160 can be defined by front walls 111F, 112Fof rigid link members 111, 112. In one example, rigid link members 111and 112 as depicted in the embodiments of FIGS. 13-15 can define ahousing having an interior 160 in which each component of fluid supplyassembly 20 is entirely disposed.

A housing defined by one or more rigid link member defining a spacingdistance between proximal axis a and rotary axis A can house and therebyprovide structural protection to components therein such as componentsof fluid supply assembly 20. In one embodiment, a component of fluidsupply assembly 20 of an articulated arm 100 can be disposed in aninterior 160 of a housing defined by one or more rigid link memberdefining a spacing distance between proximal axis a and rotary axis A.By being disposed in an interior 160 of a housing defined by one or morerigid link member defining a spacing distance between proximal axis aand rotary axis A, a component can be entirely disposed in an interior160 of a housing defined by one or more rigid link member defining aspacing distance between proximal axis a and rotary axis A. By beingdisposed in an interior 160 of a housing defined by first rigid linkassembly 11, a component can be partially disposed in an interior 160 ofa housing defined by one or more rigid link member defining a spacingdistance between proximal axis a and rotary axis A.

In one embodiment, one or more of pump 23, reservoir 24, fluid supplylines 27, 28 check valves 29, 30 or motor assembly 21 can be disposed ina housing interior 160 defined by one or more rigid link member defininga spacing distance between proximal axis a and rotary axis A. In theschematic view of FIGS. 13-15 the reference numerals 20-1 represent asingle one component of fluid supply assembly 20, e.g., one ofcomponents 21, 23, 24, 27, 28, 29, 30. In one embodiment, each of a pump23, reservoir 24, fluid supply lines 27, 28, or check valves 29, 30 andmotor assembly 21 are disposed in a housing interior 160 defined by oneor more rigid link member defining a spacing distance between proximalaxis A and rotary axis A. Phantom elements 20-1, 20A depicted in FIGS.13-15 schematically illustrate a single component 20-1 or each component20A of fluid supply assembly 20 at any depth (in the foreground orbackground of cross section shown). In the schematic diagram of FIGS.13, 14 and 15 reference element 20-1 represents a single component offluid supply assembly and reference element 20A represents eachcomponent of fluid supply assembly 20. As depicted schematically by thephantom component 20-1 at location A of FIGS. 13, 14 and 15, a componentof fluid supply assembly 20 in one embodiment can be partially disposedin an interior 160 of a defined housing. As indicated by component 20-1at location B of FIGS. 13, 14 and 15, a component of fluid supplyassembly 20 can be entirely disposed in an interior 160 of a definedhousing. As depicted schematically by the phantom fluid supply assembly20A shown in FIGS. 13, 14, and 15, each component of fluid supplyassembly 20 in one embodiment can be entirely disposed in an interior160 of a defined housing.

In one aspect, first rigid link assembly 11 can include a longitudinalaxis L. Where first rigid link assembly 11 includes a single rigid linkmember 111 defining a spacing distance between proximal axis a androtary axis A, longitudinal axis L can extend adjacent to and parallelto rigid link member 111 as shown in FIG. 16. As shown in FIG. 16,longitudinal axis L of first rigid link assembly 11, where a spacingdistance between proximal axis a and rotary axis A is defined by asingle rigid link member 111, can extend through second rigid linkassembly 12 rotatably connected to first rigid link assembly 11 and/orthrough proximal rigid link assembly 9 rotatably connected to firstrigid link assembly 11.

In a further aspect, a longitudinal axis L of first rigid link assembly11 can extend through cross sectional centers of members of unitaryconstruction that define first rigid link assembly 11. A cross sectionalview showing longitudinal axis L of first rigid link assembly 11 takenalong line C-C and along line D-D of first rigid link assembly 11depicted in FIG. 9 is shown in FIG. 14. A cross sectional view of firstrigid link assembly 11 taken along line E-E and along line F-F of thefirst rigid link assembly 11 depicted in FIG. 10 is shown in FIG. 15. Inthe embodiments of FIGS. 5-12 where rigid link members 111, 112 of firstrigid link assembly 11 are linear, longitudinal axis L can be a singledirection longitudinal axis. In the embodiments of FIGS. 1-4 one or morerigid link member of unitary construction defining a spacing distancebetween proximal axis A and rotary axis A is provided by a component offluid supply assembly 20. In the embodiment of FIGS. 1-4, longitudinalaxis L can extend through cross sectional centers of components of fluidsupply assembly 20 defining a spacing distance between proximal axis Aand rotary axis A. Longitudinal axis L can be a curved longitudinal axiswhere rigid link members 111, 112 are curved. Longitudinal axis L canhave a succession of line segments wherein rigid link members defining aspacing distance between proximal axis a and rotary axis A have multiplelinear segments.

In one aspect, articulated arm 100 can be configured so thatlongitudinal axis L extends through one or more component of fluidsupply assembly 20. In one aspect, articulated arm 100 can be configuredso that longitudinal axis L extends through one or more of a componentof pump 23 or motor assembly 21. Providing articulated arm 100 so thatlongitudinal axis L extends through one or more of a component of pump23 or motor assembly 21 can facilitate a compact configuration forarticulated arm 100, enhancing a capacity of articulated arm 100 to bemaneuvered into confined spaces. Referring to the embodiments of FIGS.1-8 longitudinal axis L can extend through motor assembly 21, motor 21M,pump 23 and rigid structural member 32 which can define reservoir 24 andfluid supply lines 27 and 28.

A rigid link assembly as set forth herein can be regarded as includingone or more rigid link member of unitary construction that defines aspacing distance between axes, e.g. proximal axis a and rotary axis A. Arigid link assembly can also be regarded as including any additionalmembers of unitary construction that are supported in a fixed positionin relation to one or more rigid link member of unitary constructionthat define a spacing distance between axes, e.g., proximal axis a androtary axis A.

A component of fluid supply assembly 20 as set forth herein can beprovided by a subcomponent of a larger component, e.g., a motor 21M ofmotor assembly 21, a motor stator 21S of motor 21M, a section ofmaterial defining the component.

Members that are described herein as being rigidly joined together canbe supported in a fixed position in relation to one another, and can berigidly joined by welding, with use of fasteners, e.g., bolts or bythreads. Members that are described herein as being rigidly joinedtogether can be formed of cast iron in one embodiment.

Structural aspects of fluid supply assembly 20 that facilitate a compactand low cost configuration for rigid link assembly 11 have beendescribed, including structural aspects wherein one or more component offluid supply assembly 20 can be supported in a fixed position inrelation to a fluid supply end 13E, 14E of a fluid chamber 13, 14,wherein one or more component of a fluid supply assembly 20 can besupported in a fixed position in relation to proximal axis a and rotaryaxis A, wherein a rigid link member defining a spacing distance betweenproximal axis a and rotary axis A can be provided by a component of afluid supply assembly 20, wherein a rigid link member defining a spacingdistance between proximal axis a and rotary axis A houses and protectsone or more component of fluid supply assembly 20, and wherein a rigidlink assembly 11 is configured so that a longitudinal axis L of therigid link assembly 11 extends through one or more component of a rigidlink assembly 11.

Operational aspects of fluid supply assembly 20 can also facilitate areduced cost, size and weight (and therefore improved speed)configuration for first rigid link assembly 11 and articulated arm 100.

In one aspect, it was observed that where a number of motion generatingdevices (e.g. motors, solenoids which convert electrical energy intomechanical energy) of fluid supply assembly 20 increases, costs of fluidsupply assembly 20 can increase, including costs of maintenance of fluidsupply assembly 20. Size and possibly weight requirements of fluidsupply assembly 20 can increase as well, for the reason that additionalequipment servicing access structures and mounting arrangements may needto be designed into fluid supply assembly 20.

In one aspect, fluid supply assembly 20 can be based on simplifiedoperation, and can include a reduced number of motion generatingdevices. Referring to the operation of fluid supply assembly 20 as setforth herein in reference to FIGS. 1-16 (including in reference to thedetailed schematic views of FIGS. 1, 3, 5, and 7) operation of fluidsupply assembly 20 in one embodiment can be based on operation of thesingle motion generating device, motor 21M, which drives a single motionimparting device, pump 23, to operate pump 23.

Operating motor 21M to drive pump 23 in a first direction can causemotion of rigid link assembly 12 in relation to rigid link assembly 11about rotary axis A in a first joint angle direction. By driving pump 23in a first direction, pump 23 can pump fluid from second fluid chamber14 and/or from reservoir 24 into first fluid chamber 13, and can drawfluid from second fluid chamber 14 into reservoir 24. Operating motor21M to drive pump 23 in a second direction opposite the first directioncan cause motion of rigid link assembly 12 in relation to rigid linkassembly 11 about rotary axis A in a second joint angle directionopposite the first joint angle direction. By driving pump 23 in a seconddirection opposite the first direction, pump 23 can pump fluid fromfirst fluid chamber 13 and/or reservoir 24 into second fluid chamber 14and can draw fluid from first fluid chamber 13 into reservoir 24.

In one aspect, one or more fluid supply path of fluid supply assembly 20can be absent any motorized, solenoid or otherwise active valve. Morespecifically, fluid supply line 27 defining a fluid flow path (both in apressure state and a suction state) extending between pump 23 and firstfluid chamber 13 can be absent any valve and accordingly can be absentany active valve. Fluid supply line 28 defining a fluid flow path (bothin a pressure state and a suction state) extending between pump 23 andsecond fluid chamber 14 can be absent any valve and accordingly can beabsent any active valve. Check valves 29 and 30 can be passive and canbe absent any active device. A pressure state fluid supply pathextending between reservoir 24 and first fluid chamber 13 can be definedby check valve 30, fluid supply line 28, pump 23, and fluid supply line27 and can be absent any active valve. A suction state fluid supply pathextending between first fluid chamber 13 and reservoir 24 can be definedby fluid supply line 27 and check valve 29 and can be absent any activevalve. A pressure state fluid supply path extending between reservoir 24and second fluid chamber 14 can be defined by check valve 29, fluidsupply line 27, pump 23, and fluid supply line 28 and can be absent anyactive valve. A suction state fluid supply path extending between secondfluid chamber 14 and reservoir 24 can be defined by fluid supply line 28and check valve 30 and can be absent any active valve. In oneembodiment, fluid supply assembly 20 can be absent any active valve andeach fluid supply path of fluid supply assembly 20 can be absent anactive valve.

Operating as described in connection with FIGS. 1-16 including withreference to the schematic diagrams of FIGS. 1, 3, 5, and 7, fluidsupply assembly 20 can be configured to move fluid into and out of firstfluid chamber 13 and second fluid chamber 14 by operation of pump 23driven by motor 21M without activation of an active valve.

Providing one or more fluid flow path extending between pump 23 andfirst fluid chamber 13 or first fluid chamber 14 or between reservoir 24and fluid chamber 13 or chamber 14 to be absent an active valve canreduce cost and space requirements of fluid supply assembly 20. Withconfigurations set forth herein, fluid supply paths of fluid supplyassembly 20 need not include costly control and power lines to activevalves and costly failures resulting from malfunctioning or impropercontrol of an active valve can be avoided. In addition, fluid flow pathsof fluid supply assembly 20 can be configured to be absent valve accessstructures and mounting arrangement to allow access to an active valve.Check valves need not be provided with control and power linecommunication and there can be minimal risk of failure of a check valvewhich would require access of a check valve for servicing orreplacement. Accordingly, a compact reduced size and lower weightconfiguration of fluid supply assembly 20 can be further facilitatedwherein valves of fluid supply assembly 20, namely check valves 29 and30 in one embodiment, are supported within an internal location of fluidsupply assembly 20, as illustrated in the schematic views of FIGS. 1, 3,5, and 7.

In another aspect, articulated arm 100 can be configured for simplifiedcontrol. Providing fluid supply assembly 20 to include a reduced numberof motion generating devices that convert electrical energy intomechanical energy can facilitate simplified control of fluid supplyassembly 20 to further facilitate a reduced cost, size, and weight (andthereby improved speed) configuration for first rigid link assembly 11and articulated arm 100.

In one aspect, movement of second rigid link assembly 12 about rotationaxis A can be controlled simply by operating motor 21M to drive andoperate pump 23 in a first direction and in a second direction oppositethe first direction. In one embodiment, a current value the angle, θ, ofsecond rigid link assembly 12 about first rigid link assembly 11 can bechanged in a first joint angle direction (increasing or decreasing) byoperating motor 21M to drive and operate pump 23 in a first directionand the current value of the angle, θ, of second rigid link assembly 12about first rigid link assembly 11 can be caused to change in a secondjoint angle direction opposite the first joint angle direction byoperating motor 21M to drive pump 23 in a second direction opposite thefirst direction.

Articulated arm 100 as set forth in the embodiments of FIGS. 1-16 caninclude a control circuit 70 (shown in the schematic views of FIGS. 1,3, 5, and 7) that transmits motor control signals to motor 21M throughsignal line 73. A set of motor control signals that can be transmittedto motor 21M from control circuit 70 by signal line 73 can be a lowoverhead simplified set of motor control signals. In one embodiment, theset of motor control signals that can be transmitted to motor 21M fromcontrol circuit 70 by signal line 73 can be restricted to motor controlsignals that control a rotational direction of motor 21M for driving ofpump 23 in one of a first direction or second direction. In oneembodiment, the set of motor control signals that can be transmitted tomotor 21M from control circuit 70 by signal line 73 can be restricted tomotor control signals that control a rotational direction and speed ofmotor 21M.

Cost and size reduction of rigid link assembly 11 can be furtherfacilitated with use of closed loop control of the motion of rigid linkassembly 12 in relation to rigid link assembly 11 about rotary axis A.Configuring rigid link assembly 11 to provide closed loop control of themotion of rigid link assembly 12 in relation to rigid link assembly 11about rotary axis A can reduce machine tolerance requirements ofstructural members of fluid supply assembly 20, as well as otherparameter requirements, including timing requirements and volume controlrequirements and temperature control requirements. In one embodiment,control circuit 70 can provide closed loop control for causing rotationof second rigid link assembly 12 in relation to first rigid linkassembly 11 about rotary axis A. Control circuit 70, based on a signalindicating a current value of the angle, θ, between rigid link assembly12 and rigid link assembly 11, can provide closed loop control forcausing rotation of second rigid link assembly 12 in relation to firstrigid link assembly about rotary axis A. In one embodiment, controlcircuit 70 can be a closed loop control circuit that outputs a controlsignal to motor 21M of the fluid supply assembly 20 based on a signalindicating the current value of angle of the second rigid link assembly12 in relation to the first rigid link assembly 11 and based on a signalindicating a selected value of the angle of the second rigid linkassembly 12 in relation to the first rigid link assembly 11.

Control circuit 70 can receive a feedback signal via signal line 71 anda command signal via signal line 72. The command signal can be input inresponse to one or more of a process or user input control. Controlcircuit 70 can output a control signal via signal line 73 to motor 21M.Signal lines 71, 72, 73 can be wired or wireless signal lines.Articulated arm 100 can include a sensor 75 for sensing a current valueof the angle, θ, between first rigid link assembly 11 and second rigidlink assembly 12.

A signal indicating the current value of the angle, θ, between firstrigid link assembly 11 and second rigid link assembly 12 can betransmitted via signal line 71 to control circuit 70 which can processthe signal indicating the current value of the angle, θ, between rigidlink assembly 11 and rigid link assembly 12 and a selected value signalreceived from signal line 72, to output an appropriate motor controlsignal to motor 21M transmitted by signal line 73 so that a currentvalue of the angle between the second rigid link assembly 12 and thefirst rigid link assembly 11 is in closer correspondence with theselected value that is indicated by the selected value signal. Theselected value signal can indicate a selected value for the angle, θ,between the rigid link assembly 12 and first rigid link assembly 11about rotary axis A and can be input into control circuit 70 in responseto one or more of a process or user input control.

Control circuit 70 can be configured for closed loop control of aparameter in place of or in addition to the parameter of a current valueof the angle, θ, of rigid link assembly 12 in relation to rigid linkassembly 11. For example, control circuit 70 can be configured toprovide closed loop control of one or more of torque or speed of secondrigid link assembly 12 in relation to first rigid link assembly 11 aboutrotary axis A. Sensor 75 can include one or more of a torque or speedsensor for sensing one or more of torque or speed of second rigid linkassembly 12 in relation to first rigid link assembly 11 about rotaryaxis A. Control circuit 70 can receive a sensor signal indicative of oneor more of a current value of torque or speed of second rigid linkassembly 12 about first rigid link assembly 11 about rotary axis A viasignal line 71 and via signal line 73 can input motor control signals tomotor 21M to control one or more of torque or speed of rigid linkassembly 12 in relation to rigid link assembly 11 about rotary axis Abased on the current value of one or more of torque or speed indicatedby sensor 75 and a user or process selected value for one or more oftorque or speed of rigid link assembly 12 in relation to rigid linkassembly 11 about rotary axis A as received by control circuit 70 viasignal line 72.

In another aspect, articulated arm 100 can be configured so that motor21M can be overdriven for periods of limited duration. Motor 21M canhave a maximum continuous operating power output rating and can bedriven to produce a power output above the maximum continuous operatingpower rating of motor 21M for periods of limited duration. It wasobserved that motor 21M according to the configuration of motor 21M influid supply assembly 20 as set forth in FIGS. 1, 3, 5 and 7 can beoperated produce a power output above a maximum continuous operatingpower output rating of motor 21M for periods of limited duration wheremotor 21M is allowed to cool during OFF state periods of motor 21Mbetween periods of operation of motor 21M. Fluid supply assembly 20 canbe configured so that first rigid link assembly 11 can support a load ofsecond rigid link assembly when motor 21M is in an OFF state. In oneaspect, articulated arm 100 can be configured so that control circuit 70transmits to motor 21M via signal line 73 motor control signals to causemovement of first rigid link assembly 11 in relation to second rigidlink assembly 12 about rotary axis A. Articulated arm 100 can beconfigured so that in response to motor control signals received fromcontrol circuit 70, motor 21M can produce a power output above a maximumcontinuous operating power output rating of motor 21M for a period oflimited duration determined by control circuit 70. In another aspect,articulated arm 100 can be configured so that responsively to initiationof an OFF state of motor 21M after a period of limited duration in whichmotor 21M is overdriven, control circuit 70 controls motor 21M to remainin an OFF state for a period of time that can be determined by controlcircuit 70. Configuring articulated arm 100 so that control circuit 70can overdrive motor 21M to produce a power output above a maximumcontinuous power output rating of motor 21M can facilitate use of asmaller horsepower motor and accordingly can further reduce a cost, sizeand weight (and therefore can increase a speed) of articulated arm 100.

Referring to the configurations described with reference to FIGS. 1-16(including with reference to the schematic views of fluid supplyassembly 20 in FIGS. 1, 3, 5, and 7), fluid supply assembly 20 in oneembodiment can include a motion generating device, namely motor 21M.Motor 21M in one embodiment can be the single motion generating deviceof fluid supply assembly 20 that generates mechanical energy in responseto applied electrical energy. Motor 21M can be mechanically coupled topump 23 so that pump 23 rotates when motor 21M rotates. Configuringfluid supply assembly 20 so that fluid supply assembly 20 includes asingle motion generating device, e.g., motor 21M can reduce a cost offluid supply assembly 20 including a cost of maintaining fluid supplyassembly 20. In a related aspect, fluid supply assembly 20 in oneembodiment can include a single motion imparting device, e.g., pump 23,which can be driven by motor 21M. Configuring fluid supply assembly 20so that fluid supply assembly 20 includes a single motion impartingdevice, e.g., pump 23 can reduce a cost of fluid supply assembly 20including a cost of maintaining fluid supply assembly 20.

In one aspect, fluid motion of fluid supply assembly 20 can becontrolled with motion imparting forces that are imparted from within afirst area of fluid supply assembly 20. In one aspect, fluid motion offluid supply assembly 20 can be controlled with motion imparting forcesthat are imparted entirely from within a first area of fluid supplyassembly 20. The first area can be a localized area spaced apart fromthe first fluid chamber 13 and the second fluid chamber 14. The motionimparting forces can be imparted by a single pump which can be providedby pump 23 within the first area in one embodiment. In one embodiment,the single pump can be capable of moving in a first direction and in asecond direction opposite the first direction.

In the embodiments set forth herein, proximal axis a and rotary axis Aare shown as horizontal axis supporting vertical rotation of rigid linkassemblies 11 and 12. One or more of proximal axis a or rotary axis Acould alternatively be in another dimension e.g. vertical axes forsupporting horizontal rotation of a link assembly, e.g., first rigidlink assembly 11 and/or second rigid link assembly 12.

An expanded view of an articulated arm 100 where articulated arm 100 isan articulated robot arm in one exemplary implementation is shown inFIG. 17. Articulated arm 100 can include a support (base) 7 which can beconfigured to remain in a fixed position and can be installed in a fixedposition. Support 7 can include a linear actuator capable of adjusting aheight of support 7 as is represented by arrow 5. Proximal rigid linkassembly 9 can extend between axis aa and proximal axis a. First rigidlink assembly 11 can extend between proximal axis a and rotary axis A.Second rigid link assembly 12 can extend between rotary axis A and axisAA. Effector part 17 can be rotatably connected to second rigid linkassembly 12 so that effector part 17 can rotate in relation to secondrigid link assembly 12 about axis AA. Articulated arm 100 can includeless than or greater than the degrees of freedom as shown in theimplementation view of FIG. 17. Effector part 17 can be e.g., a gripperor an alternative tool. In the embodiment of FIG. 17 proximal axis a isshown as being closer to support 7 than effector part 17 and first rigidlink assembly 11 can extend from axis a toward effector part 17. Inanother embodiment, proximal axis a can be located closer to effectorpart 17 and rigid link assembly 11 can extend from axis a toward support7.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention. Asused herein, the singular forms “a,” “an,” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprise” (andany form of comprise, such as “comprises” and “comprising”), “have” (andany form of have, such as “has” and “having”), “include” (and any formof include, such as “includes” and “including”), and “contain” (and anyform contain, such as “contains” and “containing”) are open-endedlinking verbs. As a result, a method or device that “comprises,” “has,”“includes,” or “contains” one or more steps or elements possesses thoseone or more steps or elements, but is not limited to possessing onlythose one or more steps or elements. Likewise, a step of a method or anelement of a device that “comprises,” “has,” “includes,” or “contains”one or more features possesses those one or more features, but is notlimited to possessing only those one or more features. Likewise, theterm “defined by” encompasses arrangements wherein a second element isfully defined by or partially defined by the first element. Similarly,the term “disposed in” encompasses arrangements herein a second elementis entirely disposed in or partially disposed in a first element.Similarly, the term “based on” can encompass both “partially based on”causal relationships and “entirely based on” causal relationships.Furthermore, a device or structure that is configured in a certain wayis configured in at least that way, but may also be configured in waysthat are not listed. While embodiments are set forth herein having acertain number of elements such embodiments can be practiced with lessthan or greater than the certain number of elements. Relationships setforth herein wherein a first element is described as supporting a secondelement can encompass relationships wherein the first element fullysupports the second element and can encompass relationships wherein thefirst element partially supports the second element. Relationships setforth herein wherein a first element is described as described asdefining a second element can encompass relationships wherein the firstelement fully defines the second element and can encompass relationshipswherein the first element partially defines the second element.

The corresponding structures, materials, acts, and equivalents of allmeans or step plus function elements in the claims below, if any, areintended to include any structure, material, or act for performing thefunction in combination with other claimed elements as specificallyclaimed. The description of the present invention has been presented forpurposes of illustration and description, but is not intended to beexhaustive or limited to the invention in the form disclosed. Manymodifications and variations will be apparent to those of ordinary skillin the art without departing from the scope and spirit of the invention.The embodiment was chosen and described in order to best explain theprinciples of one or more aspects of the invention and the practicalapplication, and to enable others of ordinary skill in the art tounderstand one or more aspects of the invention for various embodimentswith various modifications as are suited to the particular usecontemplated.

What is claimed is:
 1. An articulated arm for a robot, the articulatedarm comprising: a plurality of rigid link members including a firstrigid link assembly and a second rigid link assembly, wherein the firstrigid link assembly rotates about a proximal axis; an actuator formoving the second rigid link assembly in relation to the first rigidlink assembly about a rotary axis, the actuator including a first fluidchamber, and a second fluid chamber, the actuator having a fluid supplyassembly for moving fluid into and out of each of the first fluidchamber and the second fluid chamber; wherein the articulated arm isconfigured so that one or more component of the fluid supply assembly issupported in a fixed position in relation to a fluid supply end of thefirst fluid chamber, the one or more component including a componentselected from the group consisting of a reservoir, component of a pump,and a component of a motor.
 2. The articulated arm of claim 1, whereinthe one or more component includes a reservoir.
 3. The articulated armof claim 1, wherein each of a reservoir, a component of the pump, and acomponent of the motor are supported in a fixed position in relation toeach of the proximal axis and the rotary axis.
 4. The articulated arm ofclaim 1, wherein the first rigid link assembly includes a succession ofrigid link members of unitary construction that combine to extend adistance between the proximal axis and the rotary axis, wherein thesuccession of rigid link members of unitary construction includes afirst rigid link member of unitary construction and a second rigid linkmember of unitary construction, the first rigid link member of unitaryconstruction supporting a load of the second rigid link assembly andbeing provided by rigid structural member defining a reservoir of thefluid supply assembly, the first rigid link member of unitaryconstruction supporting a load of the second rigid link assembly andbeing provided by a motor housing that houses the motor.
 5. Thearticulated arm of claim 1, wherein the first rigid link assemblyincludes a first rigid link member of unitary construction that definesa spacing distance between the proximal axis and the rotary axis andextends a distance between the proximal axis and the rotary axis,wherein one or more component of the fluid supply assembly is supportedin a fixed position in relation to the first rigid link member.
 6. Thearticulated arm of claim 1, wherein a longitudinal axis of the firstrigid link assembly extends through one or more component of the fluidsupply assembly, wherein the one or more component includes a componentselected from the group consisting of a pump and a motor.
 7. Thearticulated arm of claim 1, wherein the plurality of rigid link membersincludes a rigid link member that extends a distance between theproximal axis and the rotary axis, and wherein the fluid supply assemblyincludes one or more component disposed in an interior of a housingdefined by the rigid link member.
 8. The articulated arm of claim 1,wherein the fluid supply assembly includes a reservoir, a pump, and amotor, and wherein the first rigid link assembly includes a first rigidlink member and a second rigid link member, each defining a spacingdistance between the proximal axis and the rotary axis, each extending adistance between the proximal axis and the rotary axis, and eachsupporting a load of the second rigid link assembly, wherein the firstrigid link member and the second rigid link member define a housinginterior, and wherein each of the reservoir, the pump and the motor arelocated within the housing interior.
 9. The articulated arm of claim 1,wherein the fluid supply assembly includes a pump and a fluid supplyline extending between the pump and the first fluid chamber, the fluidsupply line defined by a rigid structural member, the fluid supply linebeing absent a flexible section, and the rigid structural member beingsupported in a fixed position in relation to the fluid supply end of thefirst fluid chamber.
 10. The articulated arm of claim 1, wherein theactuator includes a member that defines an open volume intersected bythe rotary axis.
 11. An articulated arm for a robot, the articulated armcomprising: a plurality of rigid link members including a first rigidlink assembly and a second rigid link assembly, wherein the first rigidlink assembly rotates about a proximal axis; an actuator for moving thesecond rigid link assembly in relation to the first rigid link assemblyabout a rotary axis, the actuator including a first fluid chamber, and asecond fluid chamber, the actuator having a fluid supply assembly formoving fluid into and out of each of the first fluid chamber and thesecond fluid chamber; wherein the articulated arm is configured so thatone or more component of the fluid supply assembly is supported in afixed position in relation to a fluid supply end of the first fluidchamber, the one or more component including a component selected fromthe group consisting of a reservoir, component of a pump, and acomponent of a motor, wherein one or more rigid link member of unitaryconstruction defines a spacing distance between the proximal axis andthe rotary axis, and wherein the one or more rigid link member ofunitary construction that defines a spacing distance between theproximal axis and the rotary axis includes a component of the fluidsupply assembly.
 12. The articulated arm of claim 11, wherein the one ormore rigid link member of unitary construction that defines the spacingdistance between the proximal axis and a rotary axis includes a rigidstructural member that defines one or more of a fluid supply line or areservoir of the fluid supply assembly.
 13. The articulated arm of claim11, wherein the rigid structural member that defines one or more of thefluid supply line or the reservoir of the fluid supply assembly supportsa load of the second rigid link assembly.
 14. An articulated arm for arobot, the articulated arm comprising: a plurality of rigid link membersincluding a first rigid link assembly and a second rigid link assembly,wherein the first rigid link assembly rotates about a proximal axis; anactuator for moving the second rigid link assembly in relation to thefirst rigid link assembly about a rotary axis, the actuator including afirst fluid chamber, and a second fluid chamber, the actuator having afluid supply assembly for moving fluid into and out of each of the firstfluid chamber and the second fluid chamber; wherein the articulated armis configured so that one or more component of the fluid supply assemblyis supported in a fixed position in relation to a fluid supply end ofthe first fluid chamber, the one or more component including a componentselected from the group consisting of a reservoir, component of a pump,and a component of a motor, wherein the fluid supply assembly includes amotor and a passive check valve for use in controlling a flow of fluidfrom a reservoir to the first fluid chamber, wherein the articulated armincludes a closed loop control circuit that outputs a control signal tothe motor based on a signal input to the control circuit indicating thecurrent value of a parameter of the second rigid link assembly inrelation to the first rigid link assembly and based on a signal input tothe control circuit indicating a selected value of the parameter of thesecond rigid link assembly in relation to the first rigid link assembly.15. The articulated arm of claim 14, wherein the fluid supply assemblyis configured to move fluid into and out of the first fluid chamber byoperation of a pump without activation of an active valve, and whereinthe first fluid chamber is a fluid chamber selected from the groupconsisting of a fluid chamber defined by a flexible bladder and fluidchamber having an annular volume.